• 천문학회보
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• 제28권2호
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• pp.38-38
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• 2003

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.552-556
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• 2016

Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.

• 한국산업융합학회 논문집
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• 제22권1호
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• pp.39-45
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• 2019

We propose an active color model based method for tracking motions of multiple human using a networked multiple-camera system in IoT space as a human-robot coexistent system. An IoT space is a space where many intelligent devices, such as computers and sensors(color CCD cameras for example), are distributed. Human beings can be a part of IoT space as well. One of the main goals of IoT space is to assist humans and to do different services for them. In order to be capable of doing that, IoT space must be able to do different human related tasks. One of them is to identify and track multiple objects seamlessly. In the environment where many camera modules are distributed on network, it is important to identify object in order to track it, because different cameras may be needed as object moves throughout the space and IoT space should determine the appropriate one. This paper describes appearance based unknown object tracking with the distributed vision system in IoT space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.40-43
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• 1997

This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

• 한국항해항만학회지
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• 제27권3호
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• pp.273-282
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• 2003

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.82-87
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• 1998

In this study, the theoretical resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. In the result, the resolution of range data in laser range finder is depend on the distance between lens center of CCD camera and light emitter, view angle, beam angle, and parameters of CCD camera. The theoretical resolutions of the laser range finders of various types which are based on parameters effected resolution are calculated and experimental results are obtained in real system.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 추계종합학술대회
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• pp.592-595
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• 2001

원거리에서 무접촉 거리 계측(ranging)은 군용 장비나 건설, 항해, 자동화 등에 매우 중요하다. 계측방식은 active와 passive 방식으로 구분되는데, active방식은 laser나 microwave, 초음파 등의 time of flight를 이용하거나 레이저 조사(illumination)에 대한 카메라 영상을 해석하는 등의 다양한 방식이 있으나 장치가 복잡하고, passive 방식은 stereo camera의 양안 영상을 이용하거나 focus 특성을 이용하는 방식 등이 있으나 대부분 연산 시간이 많이 요구된다. 본 연구에서는 수동식 스테레오 카메라에서 양안시차를 추출하여 triangulation으로 목표점(target point)의 거리를 측정하는 것을 기본 방식으로 하여, 기존 거리 산출 방식에서 연산 시간이 많이 소요되는 연산 과정을 효율적이고 고속으로 수행할 수 있도록 새로운 방식을 제안하였다. 즉, 목표점에서의 양안 edge 영상을 구하며, 이 영상의 accumulation profile을 correlation하여, 거리 연산의 핵심 요소인 양안 시차를 고속으로 추출하는 알고리즘을 제안하였다. 또한, 제안 방식의 효율성을 실험 결과를 통하여 보였다.

• 방송과미디어
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• 제5권1호
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• pp.59-71
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• 2000

This paper presents a survey of the CMOs-based image sensor and its applications to various real field digital camera. CMOS image sensor, called active pixel sensor (APS), has many interesting properties such ash I회 sensitivity, high speed readout, random access and lower power consumption when it is compared with CCd. this paper also addresses the state-of-the-art of CMOS image sensor, and gives some examples of its application to digital camera and special-purpose cameras. with the advancement of semiconductor technology, CMOS image sensor is a future technology for imaging system, and will be widely used in the filed of image capturing for consumer electronics and scientific measurements.

• 한국광학회:학술대회논문집
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• 한국광학회 2006년도 하계학술발표회 논문집
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• pp.109-110
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1485-1490
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• 2004

Recently, we have remarkable developments in intelligent robot systems. The remarkable features of intelligent robot are that it can track user, does face recognition and vital for many surveillance based systems. Advantage of face recognition when compared with other biometrics recognition is that coerciveness and contact that usually exist when we acquire characteristics do not exist in face recognition. However, the accuracy of face recognition is lower than other biometric recognition due to decrease in dimension from of image acquisition step and various changes associated with face pose and background. Factors that deteriorate performance of face recognition are many such as distance from camera to face, lighting change, pose change, and change of facial expression. In this paper, we implement a new 3D active camera system to prevent various pose variation that influence face recognition performance and propose face recognition algorithm for intelligent surveillance system and mobile robot system.